KR860008841A - Robot - Google Patents

Robot Download PDF

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Publication number
KR860008841A
KR860008841A KR1019860003539A KR860003539A KR860008841A KR 860008841 A KR860008841 A KR 860008841A KR 1019860003539 A KR1019860003539 A KR 1019860003539A KR 860003539 A KR860003539 A KR 860003539A KR 860008841 A KR860008841 A KR 860008841A
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KR
South Korea
Prior art keywords
control system
signal
arm
servo
registration
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KR1019860003539A
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Korean (ko)
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KR890000716B1 (en
Inventor
도모히로 마루오
도시쯔그 이노우에
아끼호 히라하다
아끼요시 나까다
요시아끼 마끼자와
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마쯔시다덴기산교 가부시기가이샤
다니이 아끼오
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Publication of KR860008841A publication Critical patent/KR860008841A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36422—During teaching shut off, disable motor to move arm easy
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36429—Power assisted positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36472—During teaching low servo power, during playback high servo power
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

내용 없음No content

Description

로보트Robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 로보트의 발명기본개념을 표시한 개념도.1 is a conceptual diagram showing the basic concept of the robot of the present invention.

제2도는 본 발명의 제1의 실시예에서의 로보트의 구성도.2 is a block diagram of a robot in the first embodiment of the present invention.

제12도는 본 발명의 제1의 실시예의 교시장치의 조작상태를 표시한 설명도.12 is an explanatory diagram showing an operating state of the teaching apparatus of the first embodiment of the present invention.

※도면의 주요부분에 대한 부호의 설명※ Explanation of symbols for main parts of drawing

1,24 : 아암 2 : 모우터1,24 arm 2: motor

3 : 위치검출기 4 : 제어부3: position detector 4: control part

5 : 메모리 6 : 제어장치5: memory 6: controller

6a : 서어보록제어계 6b : 위치신호등록제어계6a: surrogate control system 6b: position signal registration control system

7 : 서어보록해제수단 8 : 위치신호등록수단7: means for releasing the surrogate 8: means for registering position signal

9 : 서어보록해제단추 10 : 위치신호등록단추9: button release button 10: position signal registration button

11 : 출력신호등록단추 12 : 상태절환스위치11: output signal registration button 12: state switching switch

13 : 상태신호등록단추 14 : 타이머눌름단추13: Status signal registration button 14: Timer push button

15a : 서어보전원전압절환용신호선15a: Servo power supply voltage switching signal line

15b : 스위치 16,25 : 교시장치15b: switch 16, 25: teaching device

17 : 신호선 18 : 외부장치 I17: signal line 18: external device I

19 : 외부장치 II 20 : 기계적코넥터19: External device II 20: Mechanical connector

21 : 전기적코넥터 22 : 표시등21: Electrical connector 22: Indicator

23,26 : 손잡이 27 : 가용성죠인트23,26: Handle 27: Soluble Joint

28 : 전기적코넥터임시부착부재28: electrical connector temporary attachment member

30 : 교시재생절환수단30: teaching reproduction switching means

Claims (15)

아암과, 상기 아암을 구동하는 모우터와, 상기 아암의 위치를 검출하는 위치검출기와, 제어부와, 메모리로 이루어지고, 상기 제어부는, 상기 위치검출기로부터의 출력을 현재위치로하여 목표위치와의 편차를 영으로 하도록 상기 모우터에 모우터전압을 인가하여 서어보제어를 행하는 서어보록제어계와, 상기 서어보록 제어계의 동작을 제어하는 서어보록절환수단과, 상기 위치검출기로 부터의 출력을 위치신호에 관한 정보로서 상기 메모리에 등록하는 위치신호등록제어계와, 상기 위치신호등록제어계의 작동을 제어하는 위치신호등록수단을 가진 것을 특징으로하는 로보트.An arm, a motor for driving the arm, a position detector for detecting the position of the arm, a controller, and a memory, wherein the controller is configured to use the output from the position detector as a current position to A servo signal control system for applying servo voltage to the motor to carry out servo control, zero servo switching means for controlling the operation of the servo control system, and an output signal from the position detector. And a position signal registration control system for registering in the memory as information about the position, and a position signal registration means for controlling the operation of the position signal registration control system. 제1항에 있어서, 제어부는, 서어보록제어계가 작동상태인지 해제상태인지를 판별하고, 각각의 상태에서의 위치신호에 관한 정보를 구별하여 메모리에 등록하는, 위치신호판별등록제어계를 가진 것을 특징으로하는 로보트.2. The control unit according to claim 1, wherein the control unit has a position signal discrimination registration control system for determining whether the surrogate control system is in an operating state or a released state, and discriminating and registering information on the position signal in each state into a memory. By robot. 제1항에 있어서, 제어부는, 외부장치의 동작을 제어하기 위한 외부장치제어계와, 상기 외부장치제어계의 동작을 결정하는 출력신호에 관한 정보를 메모리에 등록하는 출력신호등록제어계와, 상기 출력신호등록제어계의 작동을 제어하는 개 또는 1복수개의 출력신호 등록수단을 가진 것을 특징으로하는 로보트.The control apparatus according to claim 1, wherein the control unit comprises: an external device control system for controlling the operation of the external device, an output signal registration control system for registering information on an output signal for determining the operation of the external device control system in a memory, and the output signal; A robot comprising one or more output signal registration means for controlling the operation of a registration control system. 제3항에 있어서, 출력신호에 관한 정보는, 외부장치로부터의 응답신호가 제어부로반신될때까지, 상제기어부의 소정의 프로그램의 진행을 제어하기위한 정보를 가진 것을 특징으로 하는 로보트.The robot according to claim 3, wherein the information on the output signal has information for controlling the progress of a predetermined program of the upper gear unit until a response signal from an external device is returned to the control unit. 제3항에 있어서, 제어부는, 위치신호등록수단과 출력신호등록 수단이 동시에 작동된 것을 판별하여, 출력신호에 관한 정보가, 위치신호에 관한 정보에 기인하도록, 메모리에 상술한 위치신호에 관한 정보와 상술한 출력신호에 관한 정보를 등록하는, 위치신호·출력신호 동시등록판별제어계를 가진 것을 특징으로하는 로보트.4. The control unit according to claim 3, wherein the control unit judges that the position signal registration unit and the output signal registration unit are operated at the same time so that the information on the output signal is related to the above-described position signal in the memory so that the information on the output signal is due to the information on the position signal. A robot having a position signal and an output signal simultaneous registration discrimination control system for registering information and information relating to the above-described output signal. 제1항에 있어서, 제어부는, 외부장치의 상태를 제어하기 위한 외부장치제어계와, 상기 외부장치의 상태를 제어하는 상태신호를 상기 외부장치제어계로부터 받아내어, 이신호를 상기 외부장치제어계의 동작을 결정하는 상태신호에 관한 정보로서 메모리에 등록하는 상태신호 등록제어계와, 상기 외부장치의 상태를 절환하기 위하여, 상기 외부장치제어계의 작동을 제어하는 1개 또는 복수개의 상태절환수단과, 상기 상태신호등록제어계의 작동을 제어하는 상태신호등록수단을 가진 것을 특징으로하는 로보트.The apparatus of claim 1, wherein the control unit receives an external device control system for controlling the state of the external device and a state signal for controlling the state of the external device from the external device control system, and receives the signal to operate the external device control system. A status signal registration control system that registers in a memory as information about the determined status signal, one or more status switching means for controlling the operation of the external device control system to switch the state of the external device, and the status signal And a status signal registration means for controlling the operation of the registration control system. 제6항에 있어서, 제어부는, 위치신호등록수단과 상태신호등록수단이 동시에 작동된 것을 판별하여, 상태신호에 관한 정보가, 위치신호에 관한 정보에 기인하도록, 메모리에 상술한 위치신호에 관한 정보와 상술한 상태신호에 관한 정보를 등록하는, 위치신호·상태신호동시등록판별제어계를 가진 것을 특징으로 하는 로보트.7. The control unit according to claim 6, wherein the control unit determines that the position signal registration unit and the state signal registration unit are operated at the same time, so that the information on the state signal is related to the above-described position signal in the memory so that the information on the state signal is attributable to the position signal. And a position signal / status signal simultaneous registration discrimination control system for registering information and information relating to the above-mentioned status signal. 제1항에 있어서, 제어부는, 아암 또는 외부장치의 동작간의 실행지연시간인 타이머시간을 설정하는 타이머시간등록수단과, 상기 타이머시간 등록수단에 연동하여 상기 타이머시간을 측정하고, 측정한 상기 타이머시간에 곤한 정보를 메모리에 등록하는 타이머시간 등록제어계를 가진 것을 특징으로하는 로보트.The timer according to claim 1, wherein the controller measures the timer time in conjunction with a timer time registration means for setting a timer time which is an execution delay time between the operation of an arm or an external device, and the timer time registration means. A robot, comprising: a timer time registration control system for registering time-needed information in a memory. 제1항에 있어서, 서어보록절환수단은 서어보록제어계의 동작을 완전히 해제하는 서어보록해제단추인 것을 특징으로하는 로보트.The robot according to claim 1, wherein the surrogate switching means is a surrogate release button for completely releasing the operation of the surrogate control system. 제1항에 있어서, 서어보록절환수단은 서어보전원전압을 절환설정가능한 구성인 것을 특징으로 하는 로보트.The robot according to claim 1, wherein the servo switch switching means has a configuration capable of switching and setting the servo power supply voltage. 아암과, 상기 아암을 구동하는 모우터와, 상기 아암의 위치를 검출하는 위치검출기와, 제어부와, 메모리로 이루어지고, 상기 제어부는, 상기 위치검출기로부터의 출력을 현재위치로하여 목표위치화의 편차를 영으로 하도록 상기 모우터에 모우터전압을 인가하여 서어보제어를 행하는 서어보록제어계와, 상기 서어보록 제어계의 동작을 제어하는 서어보록절환수단과, 상기 위치검출기로 부터의 출력을 위치신호에 관한 정보로서 상기 메모리에 등록하는 위치신호등록제어계와, 상기 위치신호등록제어계의 작동을 제어하는 위치신호등록수단과, 상기 메모리내의 위치신호에 관한 정보에 따라서 서어보록제어계를 작동시켜 아암을 소정의 위치 혹은 격로에 이동하도록 제어부를 작동시키는 재싱제어부를 구비한 것을 특징으로하는 로보트.An arm, a motor for driving the arm, a position detector for detecting the position of the arm, a controller, and a memory, wherein the controller has an output from the position detector as a current position for the target positioning. A servo signal control system for applying servo voltage to the motor to carry out servo control, zero servo switching means for controlling the operation of the servo control system, and an output signal from the position detector. The position signal registration control system which registers in the memory as the information relating to the position, the position signal registration means for controlling the operation of the position signal registration control system, and the servo control system are operated in accordance with the information about the position signal in the memory to determine the arm. Robot having a ashing control unit for operating the control unit to move to the position or separation of the robot. 아암과, 상기 아암을 구동하는 모우터와, 상기 아암의 위치를 검출하는 위치검출기와, 제어부와, 메모리로 이루어지고, 상기 제어부는, 상기 위치검출기로부터의 출력을 현재위치로하여 목표위치와의 편차를 영으로 하도록 상기 모우터에 모우터전압을 인가하여 서어보제어를 행하는 서어보록제어계와, 상기 서어보록 제어계의 해제를 제어하는 서어보록해제수단과, 상기 위치검출기로 부터의 출력을 위치신호에 관한 정보로서 상기 메모리에 등록하는 위치신호등록제어계와, 상기 위치신호등록제어계의 작동을 제어하는 위치신호등록수단을 가지고, 또한 상기 아암의 동작을 교시할 때, 쥐고 상기 아암을 움직이기 위한 손잡이와 상기 서어보록해제수단과 상기 위치신호등록수단을 구비한 교시장치와, 상기 교시장치를 상기 아암에 장탈착하기 위하여 상기 아암상에 착설한 기계적코넥터와 전기 코넥터를 가진 것을 특징으로하는 로보트.An arm, a motor for driving the arm, a position detector for detecting the position of the arm, a controller, and a memory, wherein the controller is configured to use the output from the position detector as a current position to A servo signal control system for applying servo voltage to the motor to carry out the servo voltage control, a servo block release means for controlling the release of the servo control system, and an output signal from the position detector. A position signal registration control system which registers in the memory as information relating to the position signal, and a position signal registration means for controlling the operation of the position signal registration control system, and a handle for holding and moving the arm when teaching operation of the arm And a teaching device comprising the surrogate release means and the position signal registration means, and for attaching and detaching the teaching device to the arm. The robot having a mechanical connector and an electrical connector mounted on the arm. 제9항에 있어서, 제어부는, 아암상에 착설된 전기적코넥터의 장탈착에 연동하여, 모우터에 걸리는 모우터전압의 전압치를 절환하는 서어보전원전압 절환제어계를 가진 것을 특징으로하는 로보트.10. The robot according to claim 9, wherein the control unit has a servo power supply voltage switching control system for switching the voltage value of the motor voltage applied to the motor in association with the mounting and detaching of the electrical connector mounted on the arm. 아암과, 상기 아암을 구동하는 모우터와, 상기 아암의 위치를 검출하는 위치검출기와, 제어부와, 메모리로 이루어지고, 상기 제어부는, 상기 위치검출기로부터의 출력을 현재위치로하여 목표위치와의 편차를 영으로 하도록 상기 모우터에 모우터전압을 인가하여 서어보제어를 행하는 서어보록제어계와, 상기 서어보록 제어계의 해제글 제어하는 서어보록해제수단과, 상기 위치검출기로부터의 출력을 위치신호에 관한 정보로서 상기 메모리에 등록하는 위치신호등록제어계와, 상기 위치신호등록제어계의 작동을 제어하는 위치신호등록수단을 가지고, 상기 아암의 동작을 교시할 때, 쥐고 상기 아암을 움직이기 위한 손잡이를 상기 아암에 착설하고, 상기 손잡이의 조작과 상기 서어보록해제수단의 조작과, 상기 위치신호등록수단의 조작이 한손으로 행할수 있도록, 상기 손잡이에 상기 서어보록해제수단과 상기 위치신호등록 수단을 착설한 것을 특징으로하는 로보트.An arm, a motor for driving the arm, a position detector for detecting the position of the arm, a controller, and a memory, wherein the controller is configured to use the output from the position detector as a current position to A servo block control system for applying servo voltage to the motor for zero deviation, a servo block release means for controlling the release of the servo control system, and an output from the position detector to the position signal. A position signal registration control system which registers in the memory as the information relating thereto, and a position signal registration means for controlling the operation of the position signal registration control system, when teaching the operation of the arm, the handle for holding and moving the arm; On the arm, operation of the handle, operation of the release block and operation of the position signal registration means are performed with one hand. Be so, the robot, characterized in that the said handle chakseol the position signal register means and the surge borok release means. 제11항에 있어서, 아암은, 손잡이와 상기 손잡이를 제외한 상기 아암의 사이에 상기 손잡이를 상기 손잡이를 상기 손잡이를 제외한 상기 아암에 대하여 임의로 움직일수 있는 가요성조인트를 가진 것을 특징으로 하는 로보트.12. The robot according to claim 11, wherein the arm has a flexible joint that can arbitrarily move the handle with respect to the arm except for the handle, between the handle and the arm except the handle. ※참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is to be disclosed based on the initial application.
KR1019860003539A 1985-05-30 1986-05-07 Industrial robot having a device for teaching a motor-driven arm with variable servo-control KR890000716B1 (en)

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JPS621004A (en) 1987-01-07
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